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EP 4 412 935 A1

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(43) Date of publication: 14.08.2024 Bulletin 2024/33 (21) Application number: 22801268.8 (22) Date of filing: 06.10.2022

(51) International Patent Classification (IPC):  B65G 67/24(2006.01) B25J 13/08(2006.01) B25J 9/16(2006.01) G05B 19/00(2006.01) (52) Cooperative Patent Classification (CPC): B65G 67/24; B65G 47/918; B25J 9/0087; B25J 15/04; B25J 9/1633; B25J 5/007; B25J 9/0093; B25J 9/1687; G05B 2219/40006; G05B 2219/40599 (86) International application number: PCT/US2022/045947 (87) International publication number: WO 2023/059830 (13.04.2023 Gazette 2023/15)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA Designated Validation States: KH MA MD TN (30) Priority: 06.10.2021 US 202163252807 P 06.10.2021 US 202163252811 P (71) Applicant: Berkshire Grey Operating Company, Inc. Bedford, MA 01730 (US)

(72) Inventors: ALLEN, Thomas Reading, MA 01867 (US) COHEN, Benjamin Somerville, MA 02143 (US) AMEND, John, Richard Belmont, MA 02478 (US) ROMANO, Joseph Arlington, MA 02476 (US) MASON, Matthew, T. Pittsburgh, PA 15217 (US) WU, Yanchun Sharon, MA 02067 (US) SINGH, Jagtar Burlington, MA 01803 (US) (74) Representative: Haseltine Lake Kempner LLP  One Portwall Square Portwall Lane Bristol BS1 6BH Bristol BS1 6BH (GB)